CLAW composes motion primitives from a kinematic planner, tracks them with a low-level controller in MuJoCo to produce physically grounded trajectories, and generates segment- and trajectory-level language annotations via templates for scalable motion-language data collection on the Unitree G1.
Retargeting matters: General motion retargeting for humanoid motion tracking,
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CLAW: Composable Language-Annotated Whole-body Motion Generation
CLAW composes motion primitives from a kinematic planner, tracks them with a low-level controller in MuJoCo to produce physically grounded trajectories, and generates segment- and trajectory-level language annotations via templates for scalable motion-language data collection on the Unitree G1.